Online Calibration of Installation Errors of SINS/OD Integrated Navigation System Based on Improved NHC

Yan, Ming; Wang, Zengcai; Zhang, Jie

doi:10.1109/jsen.2022.3170707

Cited by 7 publications

(2 citation statements)

References 22 publications

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“…Due to errors in the manufacturing and installation of the double-finger flexible manipulator, there is a deviation between the actual clamping state and the measured value. 19,20 Therefore, before the experiment, the measured dimensions are substituted into the corresponding calculation formula and corrected.…”

Section: Control System Of Double-finger Flexible Manipulatormentioning

confidence: 99%

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Li,

Chen

2024

Science Progress

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Aiming at the flexible manipulator grasping complex target parts of different shapes, a double-finger flexible manipulator model is proposed. The manipulator is composed of a flexible mechanical finger, a driving component and a position compensation mechanism. It imitates the motion characteristics of human finger joints and follows the principle of double-fingered grasping. According to the structural characteristics of the target contour, the grasping features of the target contour are extracted. Through the motion principle of the flexible manipulator, the kinematic model of the envelope clamping process of the manipulator target is carried out. Finally, the flexible manipulator experimental platform is built to verify the grasping characteristics of the flexible manipulator target. The results show that the manipulator can realize the adaptive grasping of cylinder and cuboid parts, which have high grasping reliability and stability.

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Section: Control System Of Double-finger Flexible Manipulatormentioning

confidence: 99%

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Li,

Chen

2024

Science Progress

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“…Since OD does not rely on external signals, the SINS/OD integration is one of the most common land autonomous navigation modes in GNSS-denied scenarios [15][16][17][18][19][20][21]. OD is typically mounted on the tire of the vehicle and measures the angle of wheel rotation.…”

Section: Introductionmentioning

confidence: 99%

A SINS/GNSS/2D-LDV integrated navigation scheme for unmanned ground vehicles

Xiang,

Zhang,

Wang

et al. 2023

Meas. Sci. Technol.

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In recent years, unmanned autonomous driving technology has attracted increasing attention from people, and become a research hotspot. Currently, the integration of strapdown inertial navigation system (SINS) and global navigation satellite systems (GNSSs) is the most common and effective navigation and positioning scheme for unmanned ground vehicles (UGVs) and unmanned aerial vehicles. However, this integrated system is unable to maintain a reliable positioning solution in challenging environments due to the inherent weakness of GNSS signals and the accumulation of SINS positioning errors over time. To address this issue, this paper proposes an integrated scheme based on an asynchronous Kalman filter for SINS, GNSS and two-dimensional (2D) laser Doppler velocimeter (LDV). In the proposed scheme, the SINS and 2D-LDV are tightly coupled to improve the robustness of the integrated system, and the error parameters between the 2D-LDV and the SINS are calibrated in real time during the validity of the GNSS signal. In addition, the designed asynchronous Kalman filter method evaluates the validity of the GNSS and 2D-LDV measurements in real time based on Mahalanobis distance of innovation vector and statistical property principle. Two groups of long-distance, high-mobility vehicle experiments conducted in challenging environments verify the validity of the proposed scheme. The experimental results show that the proposed SINS/GNSS/2D-LDV integrated navigation scheme has good environmental adaptability and reliability, and can maintain high horizontal and vertical positioning accuracy despite frequent GNSS signal failures, which can meet the needs of UGVs.

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A high-precision positioning method for shield tunneling based on dual-axis hybrid inertial navigation system

Qi,

Chen,

Zhao

et al. 2024

Measurement

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Online Calibration of Installation Errors of SINS/OD Integrated Navigation System Based on Improved NHC

Cited by 7 publications

References 22 publications

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

A SINS/GNSS/2D-LDV integrated navigation scheme for unmanned ground vehicles

A high-precision positioning method for shield tunneling based on dual-axis hybrid inertial navigation system

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